Method of robotic transport of goods

ABSTRACT

The present invention discloses a method of robotic transport of goods and relates to the field of storage logistics, including the following steps: providing a transport robot and shelves, the transport robot comprising a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit driving the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit and the shelves comprising one or more cargo box storing spaces, respectively; the transport robot autonomously moving to the front of a destination shelf according to a goods fetching instruction, the cargo box delivery unit acquiring one cargo box from one cargo box storing space of the shelf specified according to the goods fetching instruction, and then delivering the cargo box to another cargo box storing space in the cargo box storing unit specified according to the goods fetching instruction; repeating the goods fetching step if the instruction contains the goods fetching instruction for the same shelf; the transport robot autonomously moving to another shelf and repeating the goods fetching step if the instruction contains the goods fetching instruction for another shelf; the transport robot carrying the fetched goods and autonomously moving to a picking table after performing all the goods fetching instructions.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional application of co-pending U.S. patentapplication Ser. No. 16/466,010, titled “METHOD OF ROBOTIC TRANSPORT OFGOODS”, filed May 31, 2019, which claims the benefit of priority toInternational Patent Application PCT/CN2017/071288, filed Jan. 16, 2017.The disclosures of the above applications are herein incorporated byreference in their entirety.

FIELD OF THE INVENTION

The present invention relates to the field of automated warehousing andlogistics, particularly to a method of robotic transport of goods.

DESCRIPTION OF THE PRIOR ART

Robotic transport is a method applied to automated materialstransporting, having many advantages such as high automaticity, flexibleapplications, safety and reliability, high efficiency and convenientmaintenance, and the like, and finds its broad applications in the fieldof logistics and transportation in auto manufacturing industries, foodindustries, tobacco industries and engineering and machinery industriesand the like. In addition, transporting robots are widely applied invarious public service places such as airport, hospitals and officebuildings. These advantages make the transporting robot a key equipmentin modern logistics systems and become one of the important members inthe program of “machine substitution for human labor”.

The transport method of “shelves coming to people” proposed by the KIVAcompany in the year 2011 has achieved great success, whose structure andmethod are stated in detail in the U.S. Pat. No. 7,850,413B2. Therefore,many similar transport methods of “shelves coming to people” areemerging in China, which also have good effects. However, the transportmethod of “shelves coming to people” also has a defect of having totransport the whole shelf to a picking area in order to fetch one pieceof goods, which causes great wasting of resources. Moreover, only onekind of goods can be transported at a time.

Therefore, persons skilled in the art are devoted to developing a methodof robotic transport of goods, which can transport various kinds ofgoods at a time, thereby increasing the transport efficiency of thetransport robot.

SUMMARY OF THE INVENTION

In view of the above defects in the prior art, the technical problem tobe solved by the present invention is how to increase the transportefficiency of the transport robot. Since the cargo boxes are to betransported, whose volume and weight are much less than those of theshelves, a plurality of cargo boxes can be transported at a time. Asingle cargo box at least stores one kind of goods, so various kinds ofgoods can be transported at a time.

In order to achieve the above aim, the present invention provides amethod of robotic transport of goods, including the following steps.

Step 1: a transport robot and shelves are provided, the transport robotincluding a drive unit, a cargo box storing unit and a cargo boxdelivery unit, wherein the drive unit drives the cargo box storing unitand the cargo box delivery unit to move together; the cargo box storingunit and the shelves include one or more cargo box storing spaces,respectively;

Step 2: the transport robot autonomously moves to the front of adestination shelf according to a goods fetching instruction, the cargobox delivery unit acquires one cargo box from one cargo box storingspace of the shelf specified according to the goods fetchinginstruction, and then delivers the cargo box to another cargo boxstoring space in the cargo box storing unit specified according to thegoods fetching instruction;

Step 3: repeating Step 2 is if the instruction contains the goodsfetching instruction for the same shelf;

Step 4: the transport robot autonomously moves to another shelf andrepeating Step 2 if the instruction contains the goods fetchinginstruction for another shelf;

Step 5: the transport robot autonomously moves to the front of adestination shelf according to a goods storing instruction, the cargobox delivery unit acquires one cargo box from one cargo box storingspace of the cargo box storing unit specified according to the goodsstoring instruction, and then delivers the cargo box to another cargobox storing space in the shelf specified according to the goods storinginstruction;

Step 6: repeating Step 5 if the instruction contains the goods storinginstruction for the same shelf;

Step 7: the transport robot autonomously moves to another shelf andrepeating Step 5 if the instruction contains the goods storinginstruction for another shelf.

Further, the cargo box storing unit can store a plurality of cargo boxeson layers at different heights; the shelf can store a plurality of cargoboxes on layers at different heights.

Further, the cargo boxes on layers at different heights of the cargo boxstoring unit can be stored onto the layers at different heights of theshelf by means of the cargo box delivery unit; the cargo boxes on layersat different heights of the shelf can be stored onto the layers atdifferent heights of the cargo box storing unit by means of the cargobox delivery unit.

Further, the robot can place the cargo box of a certain layer of thecargo box storing unit onto another layer of the cargo box storing unit.

Further, the automated sorting function can be performed when the robotprocesses or stops.

Further, the transport robot can store the cargo box on any layer of theshelf to a specified layer of the cargo box storing unit by means of thecargo box delivery unit, and then store the cargo box on another layerof the same shelf to another specified layer of the cargo box storingunit by means of the cargo box delivery unit.

Further, the transport robot can store the cargo box on any layer of theshelf to a specified layer of the cargo box storing unit by means of thecargo box delivery unit, and then store the cargo box on any layer ofanother shelf to a specified layer of the cargo box storing unit bymeans of the cargo box delivery unit.

Further, the transport robot can store the cargo box stored on any layerof the cargo box storing unit to a specified layer of the shelf by meansof the cargo box delivery unit, and then store the cargo box on anotherlayer of the cargo box storing unit to another specified layer of thesame shelf by means of the cargo box delivery unit.

Further, the transport robot can store the cargo box stored on any layerof the cargo box storing unit to a specified layer of the shelf by meansof the cargo box delivery unit, and then store the cargo box on anotherlayer of the cargo box storing unit to a specified layer of anothershelf by means of the cargo box delivery unit.

Further, the transport robot can issue alarm information when the cargobox cannot be fetched in case of executing the goods fetchinginstruction, and the destination storing space is occupied in case ofexecuting the goods storing instruction.

The present invention further provides a method of robotic transport ofgoods, including the following steps:

the transport robot autonomously moves to the front of a destinationshelf according to a goods fetching instruction, the cargo box deliveryunit acquires one cargo box from one cargo box storing space of theshelf specified according to the goods fetching instruction, and thendelivers the cargo box to another cargo box storing space in the cargobox storing unit specified according to the goods fetching instruction;or

the transport robot autonomously moves to the front of a destinationshelf according to a goods storing instruction, the cargo box deliveryunit acquires one cargo box from one cargo box storing space of thecargo box storing unit specified according to the goods storinginstruction, and then delivers the cargo box to another cargo boxstoring space in the shelf specified according to the goods storinginstruction.

Further, the cargo box storing unit can store a plurality of cargo boxeson layers at different heights; the shelf can store a plurality of cargoboxes on layers at different heights.

Further, the cargo boxes on layers at different heights of the cargo boxstoring unit can be stored onto the layers at different heights of theshelf by means of the cargo box delivery unit; the cargo boxes on layersat different heights of the shelf can be stored onto the layers atdifferent heights of the cargo box storing unit by means of the cargobox delivery unit.

Further, the robot can place the cargo box of a certain layer of thecargo box storing unit onto another layer of the cargo box storing unit.

Further, the automated sorting function can be performed when the robotprocesses or stops.

Further, the transport robot can store the cargo box on any layer of theshelf to a specified layer of the cargo box storing unit by means of thecargo box delivery unit, and then store the cargo box on another layerof the same shelf to another specified layer of the cargo box storingunit by means of the cargo box delivery unit.

Further, the transport robot can store the cargo box on any layer of theshelf to a specified layer of the cargo box storing unit by means of thecargo box delivery unit, and then store the cargo box on any layer ofanother shelf to a specified layer of the cargo box storing unit bymeans of the cargo box delivery unit.

Further, the transport robot can store the cargo box stored on any layerof the cargo box storing unit to a specified layer of the shelf by meansof the cargo box delivery unit, and then store the cargo box on anotherlayer of the cargo box storing unit to another specified layer of thesame shelf by means of the cargo box delivery unit.

Further, the transport robot can store the cargo box stored on any layerof the cargo box storing unit to a specified layer of the shelf by meansof the cargo box delivery unit, and then store the cargo box on anotherlayer of the cargo box storing unit to a specified layer of anothershelf by means of the cargo box delivery unit.

Further, the transport robot can issue alarm information when the cargobox cannot be fetched in case of executing the goods fetchinginstruction, and the destination storing space is occupied in case ofexecuting the goods storing instruction.

Further, the steps further include:

repeating the goods fetching or storing process if the instructioncontains the goods fetching or storing instruction for the same shelfand

the transport robot autonomously moving to another shelf and repeatingthe goods fetching or storing process if the instruction contains thegoods fetching or storing instruction for another shelf.

The method of robotic transport of goods stated in the present inventioncan transport various kinds of goods at a time, with high workefficiency and low energy consumption.

The concepts, specific structure and resultant technical effects of thepresent invention are further explained below in combination withaccompanying drawings, so as to fully understand the object, featuresand effects of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the method of robotic transport ofgoods in one preferred embodiment of the present invention;

wherein,

-   -   1. drive unit; 2. cargo box storing unit; 3. cargo box delivery        unit; 4. shelf; 5. cargo box.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

As shown in FIG. 1, it is a schematic diagram of the method of robotictransport of goods, which mainly includes: a drive unit 1; a cargo boxstoring unit 2 and a cargo box delivery unit 3 mounted on the drive unit1; a shelf 4; cargo boxes 5 that can be stored on the cargo box storingunit 2 and on the shelf 4.

The cargo box storing unit 2 can store a plurality of cargo boxes 5 onlayers at different heights.

The shelf 4 can store a plurality of cargo boxes 5 on layers atdifferent heights.

The cargo boxes 5 on layers at different heights of the cargo boxstoring unit 2 can be stored onto the layers at different heights of theshelf 4 by means of the cargo box delivery unit 3.

The cargo boxes 5 on layers at different heights of the shelf 4 can bestored onto the layers at different heights of the cargo box storingunit 2 by means of the cargo box delivery unit 3.

The robot has an autonomous moving function and can move to any positionby means of the drive unit 1.

The robot has a function of automated sorting of the cargo boxes 5, andcan place the cargo box 5 on a certain layer of the cargo box storingunit 2 to another layer of the cargo box storing unit 2.

In operation, the robot can store the cargo box 5 on any layer of theshelf 4 to a specified layer of the cargo box storing unit 2 by means ofthe cargo box delivery unit 3, and then store the cargo box 5 on anotherlayer of the same shelf 4 to another specified layer of the cargo boxstoring unit 2 by means of the cargo box delivery unit 3.

In operation, the robot can store the cargo box 5 on any layer of theshelf 4 to a specified layer of the cargo box storing unit 2 by means ofthe cargo box delivery unit 3, and then store the cargo box 5 on anylayer of another shelf 4 to a specified layer of the cargo box storingunit 2 by means of the cargo box delivery unit 3.

In operation, the robot can store the cargo box 5 stored on any layer ofthe cargo box storing unit 2 to a specified layer of the shelf 4 bymeans of the cargo box delivery unit 3, and then store the cargo box 5on another layer of the cargo box storing unit 2 to another specifiedlayer of the same shelf 4 by means of the cargo box delivery unit 3.

In operation, the robot can store the cargo box 5 stored on any layer ofthe cargo box storing unit 2 to a specified layer of the shelf 4 bymeans of the cargo box delivery unit 3, and then store the cargo box 5on another layer of the cargo box storing unit 2 to a specified layer ofanother shelf 4 by means of the cargo box delivery unit 3.

The transport robot can issue alarm information when the cargo boxcannot be fetched in case of executing the fetching instruction, andwhen the destination storing space is occupied in case of executing thestoring instruction.

The preferred specific embodiments of the invention have been describedin detail above. It is to be understood that numerous modifications andvariations can be made by those ordinary skilled in the art inaccordance with the concepts of the present invention without anyinventive effort. Hence, the technical solutions that may be derived bythose skilled in the art according to the concepts of the presentinvention on the basis of the prior art through logical analysis,reasoning and limited experiments should be within the scope ofprotection defined by the claims.

1. A method of robotic transport of goods, comprising the followingsteps: step 1: providing a transport robot, the transport robotcomprising a drive unit, a first unit and a second unit, wherein thedrive unit drives the first unit and the second unit to move together,the first unit comprises one or more cargo box storing spaces, thesecond unit is configured to transport one cargo box from any one cargobox storing space of the first unit to any one cargo box storing spaceof a shelf, or transport one cargo box from any one cargo box storingspace of the shelf to any one cargo box storing space of the first unit;step 2: enabling the transport robot to carry out automated sorting atleast when the transport robot is moving, to improve transportationefficiency; wherein the automated sorting refers that the transportrobot can place a cargo box of a certain layer of the first unit ontoanother layer of the first unit.
 2. The method of robotic transport ofgoods according to claim 1, wherein the method further comprises: step3: moving the transport robot autonomously moving to a front of adestination shelf according to a goods fetching instruction; step 4:enabling the second unit to acquire one cargo box from one cargo boxstoring space of the destination shelf specified according to the goodsfetching instruction, and then delivering the cargo box to another cargobox storing space in the first unit specified according to the goodsfetching instruction.
 3. The method of robotic transport of goodsaccording to claim 2, wherein the method further comprises: repeatingstep 4 if the instruction contains goods fetching instruction from thesame shelf.
 4. The method of robotic transport of goods according toclaim 3, wherein the method further comprises: moving the transportrobot autonomously to another shelf and repeating step 4 if theinstruction contains goods fetching instruction from another shelf. 5.The method of robotic transport of goods according to claim 1, whereinthe method further comprises: step 5: moving the transport robotautonomously to a front of a destination shelf according to a goodsstoring instruction; step 6: enabling the second unit to acquire onecargo box from one cargo box storing space of the first unit specifiedaccording to the goods storing instruction, and then delivering thecargo box to another cargo box storing space in the shelf specifiedaccording to the goods storing instruction.
 6. The method of robotictransport of goods according to claim 5, wherein the method furthercomprises: repeating step 6 if the instruction contains goods storinginstruction for the same shelf.
 7. The method of robotic transport ofgoods according to claim 5, wherein the method further comprises: movingthe transport robot autonomously to another shelf and repeating step 6if the instruction contains goods storing instruction from anothershelf.
 8. The method of robotic transport of goods according to claim 1,wherein the first unit can store a plurality of cargo boxes on layers atdifferent heights; the shelf can store a plurality of cargo boxes onlayers at different heights.
 9. The method of robotic transport of goodsaccording to claim 1, wherein cargo boxes on layers at different heightsof the first unit can be stored onto layers at different heights of theshelf by means of the second unit; and cargo boxes on layers atdifferent heights of the shelf can be stored onto layers at differentheights of the first unit by means of the second unit.
 10. The method ofrobotic transport of goods according to claim 1, wherein the transportrobot is configured to carry out the automated sorting when the robotstops.
 11. The method of robotic transport of goods according to claim1, wherein the transport robot can store cargo box on any layer of theshelf to a specified layer of the first unit by means of the secondunit, and then store the cargo box on another layer of the same shelf toanother specified layer of the first unit by means of the second unit.12. The method of robotic transport of goods according to claim 1,wherein the transport robot can store cargo box on any layer of theshelf to a specified layer of the first unit by means of the secondunit, and then store the cargo box on any layer of another shelf to aspecified layer of the first unit by means of the second unit.
 13. Themethod of robotic transport of goods according to claim 1, wherein thetransport robot can store the cargo box stored on any layer of the firstunit to a specified layer of the shelf by means of the second unit, andthen store the cargo box on another layer of the first unit to anotherspecified layer of the same shelf by means of the second unit.
 14. Themethod of robotic transport of goods according to claim 1, wherein thetransport robot can store the cargo box stored on any layer of the firstunit to a specified layer of the shelf by means of the second y unit,and then store the cargo box on another layer of the first unit to aspecified layer of another shelf by means of the second unit.
 15. Themethod of robotic transport of goods according to claim 1, wherein thetransport robot can issue alarm information when any of the followingoccurs: 1) the transport robot cannot get the cargo box when executing agoods fetching instruction or a goods storing instruction, and 2) adestination storing space of the shelf is occupied when the transportrobot conveys the cargo box to the shelf.
 16. A method of robotictransport of goods, comprising the following step: enabling a transportrobot to place a cargo box of a certain layer of a first unit to anotherlayer of the first unit when the transport robot is on moving.
 17. Themethod of robotic transport of goods according to claim 16, wherein themethod comprises the following steps: moving the transport robotautonomously moving to a front of a destination shelf according to agoods fetching instruction, and enabling a second unit of the transportrobot to acquire one cargo box from one cargo box storing space of thedestination shelf specified according to the goods fetching instruction,and then delivering the cargo box to another cargo box storing space inthe first unit specified according to the goods fetching instruction.18. The method of robotic transport of goods according to claim 16,wherein the method comprises the following steps: moving the transportrobot autonomously moving to a front of a destination shelf according toa goods storing instruction, and enabling a second unit of the transportrobot to acquire one cargo box from one cargo box storing space of thefirst unit specified according to the goods storing instruction, andthen delivering the cargo box to another cargo box storing space in thedestination shelf specified according to the goods storing instruction.19. The method of robotic transport of goods according to claim 17,wherein the method further comprises: repeating a goods fetchingprogress if the goods fetching instruction contains goods fetchinginstruction from the same shelf; and moving the transport robotautonomously to another shelf and repeating the goods fetching progressif the instruction contains goods fetching instruction from anothershelf.
 20. The method of robotic transport of goods according to claim18, wherein the method further comprises: repeating a goods storingprogress if the goods storing instruction contains goods fetchinginstruction for the same shelf; and moving the transport robotautonomously to another shelf and repeating the goods storing progressif the instruction contains goods storing instruction for another shelf.